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<div class="title">bvh/cuda/binned_sah_builder_inline.h</div>  </div>
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<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment"> * Copyright (c) 2010-2011, NVIDIA Corporation</span>
<a name="l00003"></a>00003 <span class="comment"> * All rights reserved.</span>
<a name="l00004"></a>00004 <span class="comment"> *</span>
<a name="l00005"></a>00005 <span class="comment"> * Redistribution and use in source and binary forms, with or without</span>
<a name="l00006"></a>00006 <span class="comment"> * modification, are permitted provided that the following conditions are met:</span>
<a name="l00007"></a>00007 <span class="comment"> *   * Redistributions of source code must retain the above copyright</span>
<a name="l00008"></a>00008 <span class="comment"> *     notice, this list of conditions and the following disclaimer.</span>
<a name="l00009"></a>00009 <span class="comment"> *   * Redistributions in binary form must reproduce the above copyright</span>
<a name="l00010"></a>00010 <span class="comment"> *     notice, this list of conditions and the following disclaimer in the</span>
<a name="l00011"></a>00011 <span class="comment"> *     documentation and/or other materials provided with the distribution.</span>
<a name="l00012"></a>00012 <span class="comment"> *   * Neither the name of NVIDIA Corporation nor the</span>
<a name="l00013"></a>00013 <span class="comment"> *     names of its contributors may be used to endorse or promote products</span>
<a name="l00014"></a>00014 <span class="comment"> *     derived from this software without specific prior written permission.</span>
<a name="l00015"></a>00015 <span class="comment"> *</span>
<a name="l00016"></a>00016 <span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS IS&quot; AND</span>
<a name="l00017"></a>00017 <span class="comment"> * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</span>
<a name="l00018"></a>00018 <span class="comment"> * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</span>
<a name="l00019"></a>00019 <span class="comment"> * DISCLAIMED. IN NO EVENT SHALL &lt;COPYRIGHT HOLDER&gt; BE LIABLE FOR ANY</span>
<a name="l00020"></a>00020 <span class="comment"> * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</span>
<a name="l00021"></a>00021 <span class="comment"> * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span>
<a name="l00022"></a>00022 <span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</span>
<a name="l00023"></a>00023 <span class="comment"> * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span>
<a name="l00024"></a>00024 <span class="comment"> * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span>
<a name="l00025"></a>00025 <span class="comment"> * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span>
<a name="l00026"></a>00026 <span class="comment"> */</span>
<a name="l00027"></a>00027 
<a name="l00028"></a>00028 <span class="preprocessor">#pragma once</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span>
<a name="l00030"></a>00030 <span class="preprocessor">#include &lt;nih/basic/utils.h&gt;</span>
<a name="l00031"></a>00031 <span class="preprocessor">#include &lt;<a class="code" href="scan_8h.html" title="Define CUDA based scan primitives.">nih/basic/cuda/scan.h</a>&gt;</span>
<a name="l00032"></a>00032 <span class="preprocessor">#include &lt;<a class="code" href="cuda__config_8h.html" title="Defines a simple CUDA configuration class holding common constants.">nih/basic/cuda_config.h</a>&gt;</span>
<a name="l00033"></a>00033 <span class="preprocessor">#include &lt;thrust/scan.h&gt;</span>
<a name="l00034"></a>00034 <span class="preprocessor">#include &lt;thrust/sort.h&gt;</span>
<a name="l00035"></a>00035 
<a name="l00036"></a>00036 <span class="keyword">namespace </span>nih {
<a name="l00037"></a>00037 <span class="keyword">namespace </span>cuda {
<a name="l00038"></a>00038 
<a name="l00039"></a>00039 <span class="preprocessor">#define SAH_SINGLE_WARP 0</span>
<a name="l00040"></a>00040 <span class="preprocessor"></span><span class="preprocessor">#define SAH_MAX_BINS    128</span>
<a name="l00041"></a>00041 <span class="preprocessor"></span><span class="comment">//#define SAH_OBJECT_REORDERING</span>
<a name="l00042"></a>00042 <span class="comment">//#define SAH_CHECKS</span>
<a name="l00043"></a>00043 
<a name="l00044"></a>00044 <span class="preprocessor">#define ACCESS_BINS(a,id,axis,index,stride) a[id + (axis*BINS + index)*stride]</span>
<a name="l00045"></a>00045 <span class="preprocessor"></span>
<a name="l00046"></a>00046 <span class="keyword">namespace </span>binned_sah {
<a name="l00047"></a>00047 
<a name="l00048"></a>00048 <span class="keywordtype">void</span> init_bins(<span class="keyword">const</span> uint32 BINS, <span class="keyword">const</span> uint32 n_nodes, Bins bins);
<a name="l00049"></a>00049 
<a name="l00050"></a>00050 <span class="keywordtype">void</span> sah_split(
<a name="l00051"></a>00051     <span class="keyword">const</span> uint32    BINS,
<a name="l00052"></a>00052     Bins            bins,
<a name="l00053"></a>00053     Queue           qin,
<a name="l00054"></a>00054     <span class="keyword">const</span> <span class="keywordtype">int</span>       input_node_offset,
<a name="l00055"></a>00055     Queue           qout,
<a name="l00056"></a>00056     uint32*         n_output,
<a name="l00057"></a>00057     <span class="keywordtype">int</span>             output_node_offset,
<a name="l00058"></a>00058     Bvh_node*       nodes,
<a name="l00059"></a>00059     uint32*         n_leaves,
<a name="l00060"></a>00060     <span class="keyword">const</span> uint32    max_leaf_size,
<a name="l00061"></a>00061     <span class="keyword">const</span> <span class="keywordtype">float</span>     max_cost);
<a name="l00062"></a>00062 
<a name="l00063"></a>00063 <span class="keywordtype">void</span> distribute_objects(
<a name="l00064"></a>00064     <span class="keyword">const</span> uint32    BINS,
<a name="l00065"></a>00065     Objects         objects,
<a name="l00066"></a>00066     <span class="keyword">const</span> <span class="keywordtype">int</span>       n_objects,
<a name="l00067"></a>00067     Queue           queue,
<a name="l00068"></a>00068     <span class="keyword">const</span> <span class="keywordtype">int</span>       input_node_offset,
<a name="l00069"></a>00069     Bins            bins,
<a name="l00070"></a>00070     uint32*         new_index);
<a name="l00071"></a>00071 
<a name="l00072"></a>00072 <span class="keywordtype">void</span> setup_leaves(
<a name="l00073"></a>00073     <span class="keyword">const</span> <span class="keywordtype">int</span>       n_objects,
<a name="l00074"></a>00074     <span class="keyword">const</span> int32*    leaf_ids,
<a name="l00075"></a>00075     uint2*          leaves);
<a name="l00076"></a>00076 
<a name="l00077"></a>00077 
<a name="l00078"></a>00078 FORCE_INLINE NIH_DEVICE <span class="keywordtype">void</span> update_bin(float3* bin_bmin, float3* bin_bmax, int32* bin_counter, <span class="keyword">const</span> Bbox4f bbox)
<a name="l00079"></a>00079 {
<a name="l00080"></a>00080     <span class="keyword">const</span> float3 bmin = *bin_bmin;
<a name="l00081"></a>00081     <span class="keywordflow">if</span> (bbox[0][0] &lt; bmin.x) atomicMin( (int32*)&amp;(bin_bmin-&gt;x), __float_as_int(bbox[0][0]) );
<a name="l00082"></a>00082     <span class="keywordflow">if</span> (bbox[0][1] &lt; bmin.y) atomicMin( (int32*)&amp;(bin_bmin-&gt;y), __float_as_int(bbox[0][1]) );
<a name="l00083"></a>00083     <span class="keywordflow">if</span> (bbox[0][2] &lt; bmin.z) atomicMin( (int32*)&amp;(bin_bmin-&gt;z), __float_as_int(bbox[0][2]) );
<a name="l00084"></a>00084 
<a name="l00085"></a>00085     <span class="keyword">const</span> float3 bmax = *bin_bmax;
<a name="l00086"></a>00086     <span class="keywordflow">if</span> (bbox[1][0] &gt; bmax.x) atomicMax( (int32*)&amp;(bin_bmax-&gt;x), __float_as_int(bbox[1][0]) );
<a name="l00087"></a>00087     <span class="keywordflow">if</span> (bbox[1][1] &gt; bmax.y) atomicMax( (int32*)&amp;(bin_bmax-&gt;y), __float_as_int(bbox[1][1]) );
<a name="l00088"></a>00088     <span class="keywordflow">if</span> (bbox[1][2] &gt; bmax.z) atomicMax( (int32*)&amp;(bin_bmax-&gt;z), __float_as_int(bbox[1][2]) );
<a name="l00089"></a>00089 
<a name="l00090"></a>00090     atomicAdd( bin_counter, 1 );
<a name="l00091"></a>00091 }
<a name="l00092"></a>00092 
<a name="l00097"></a>00097 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Iterator&gt;
<a name="l00098"></a>00098 __global__ <span class="keywordtype">void</span> update_bins_kernel(
<a name="l00099"></a>00099     <span class="keyword">const</span> uint32    BINS,
<a name="l00100"></a>00100     <span class="keyword">const</span> uint32    n_objects,
<a name="l00101"></a>00101     <span class="keyword">const</span> Iterator  bboxes,
<a name="l00102"></a>00102     <span class="keyword">const</span> Vector4f  origin,
<a name="l00103"></a>00103     <span class="keyword">const</span> Objects   objects,
<a name="l00104"></a>00104     <span class="keyword">const</span> Queue     queue,
<a name="l00105"></a>00105     Bins            bins)
<a name="l00106"></a>00106 {
<a name="l00107"></a>00107     <span class="keyword">const</span> uint32 grid_size = gridDim.x * blockDim.x;
<a name="l00108"></a>00108 
<a name="l00109"></a>00109     <span class="comment">// loop through all logical blocks associated to this physical one</span>
<a name="l00110"></a>00110     <span class="keywordflow">for</span> (uint32 base_idx = blockIdx.x * blockDim.x;
<a name="l00111"></a>00111                 base_idx &lt; n_objects;
<a name="l00112"></a>00112                 base_idx += grid_size)
<a name="l00113"></a>00113     {
<a name="l00114"></a>00114         <span class="keyword">const</span> uint32 idx = threadIdx.x + base_idx;
<a name="l00115"></a>00115 
<a name="l00116"></a>00116         <span class="keywordflow">if</span> (idx &gt;= n_objects)
<a name="l00117"></a>00117             <span class="keywordflow">return</span>;
<a name="l00118"></a>00118 
<a name="l00119"></a>00119 <span class="preprocessor">      #ifdef SAH_OBJECT_REORDERING</span>
<a name="l00120"></a>00120 <span class="preprocessor"></span>        <span class="keyword">const</span> uint32 <span class="keywordtype">id</span> = objects.index[ idx ];
<a name="l00121"></a>00121         <span class="keywordflow">if</span> (<span class="keywordtype">id</span> == uint32(-1))
<a name="l00122"></a>00122             <span class="keywordflow">continue</span>;
<a name="l00123"></a>00123 <span class="preprocessor">      #else</span>
<a name="l00124"></a>00124 <span class="preprocessor"></span>        <span class="keyword">const</span> uint32 <span class="keywordtype">id</span> = idx;
<a name="l00125"></a>00125 <span class="preprocessor">      #endif</span>
<a name="l00126"></a>00126 <span class="preprocessor"></span>
<a name="l00127"></a>00127         <span class="comment">// check if the object has already been assigned to a node</span>
<a name="l00128"></a>00128         <span class="keyword">const</span> int32 node_id = objects.node_ids[id];
<a name="l00129"></a>00129         <span class="keywordflow">if</span> (node_id &gt; -1)
<a name="l00130"></a>00130             <span class="keywordflow">continue</span>;
<a name="l00131"></a>00131 
<a name="l00132"></a>00132         <span class="keyword">const</span> int32 split_id = objects.split_ids[id];
<a name="l00133"></a>00133 
<a name="l00134"></a>00134             <span class="keyword">const</span> Bin node_bbox = queue.bins[split_id];
<a name="l00135"></a>00135         <span class="keyword">const</span> float3 node_size = make_float3(
<a name="l00136"></a>00136             node_bbox.bmax.x - node_bbox.bmin.x,
<a name="l00137"></a>00137             node_bbox.bmax.y - node_bbox.bmin.y,
<a name="l00138"></a>00138             node_bbox.bmax.z - node_bbox.bmin.z );
<a name="l00139"></a>00139 
<a name="l00140"></a>00140         Bbox4f bbox = bboxes[id];
<a name="l00141"></a>00141         bbox[0] += origin;
<a name="l00142"></a>00142         bbox[1] += origin;
<a name="l00143"></a>00143         <span class="keyword">const</span> Vector3f center = (<a class="code" href="group__vectors.html#ga283f58e199d448be6746baec9dec6ac1">xyz</a>(bbox[0]) + <a class="code" href="group__vectors.html#ga283f58e199d448be6746baec9dec6ac1">xyz</a>(bbox[1]))*0.5f;
<a name="l00144"></a>00144 
<a name="l00145"></a>00145         <span class="keyword">const</span> int4 bin_id = make_int4(
<a name="l00146"></a>00146             (node_size.x &lt; 1.0e-8f ? 0 : quantize( (center[0] - node_bbox.bmin.x) / node_size.x, BINS )),
<a name="l00147"></a>00147             (node_size.y &lt; 1.0e-8f ? 0 : quantize( (center[1] - node_bbox.bmin.y) / node_size.y, BINS )),
<a name="l00148"></a>00148             (node_size.z &lt; 1.0e-8f ? 0 : quantize( (center[2] - node_bbox.bmin.z) / node_size.z, BINS )),
<a name="l00149"></a>00149             0 );
<a name="l00150"></a>00150 
<a name="l00151"></a>00151         objects.bin_ids[idx] = bin_id;
<a name="l00152"></a>00152 
<a name="l00153"></a>00153         <span class="keyword">const</span> uint32 binX = split_id + (BINS * 0 + bin_id.x)*queue.size;
<a name="l00154"></a>00154         <span class="keyword">const</span> uint32 binY = split_id + (BINS * 1 + bin_id.y)*queue.size;
<a name="l00155"></a>00155         <span class="keyword">const</span> uint32 binZ = split_id + (BINS * 2 + bin_id.z)*queue.size;
<a name="l00156"></a>00156 
<a name="l00157"></a>00157         update_bin( bins.bmin + binX, bins.bmax + binX, (int32*)bins.size + binX, bbox );
<a name="l00158"></a>00158         update_bin( bins.bmin + binY, bins.bmax + binY, (int32*)bins.size + binY, bbox );
<a name="l00159"></a>00159         update_bin( bins.bmin + binZ, bins.bmax + binZ, (int32*)bins.size + binZ, bbox );
<a name="l00160"></a>00160     }
<a name="l00161"></a>00161 }
<a name="l00162"></a>00162 
<a name="l00166"></a>00166 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Iterator&gt;
<a name="l00167"></a>00167 <span class="keyword">inline</span> <span class="keywordtype">void</span> update_bins(
<a name="l00168"></a>00168     <span class="keyword">const</span> uint32    BINS,
<a name="l00169"></a>00169     <span class="keyword">const</span> uint32    n_objects,
<a name="l00170"></a>00170     <span class="keyword">const</span> Iterator  bboxes,
<a name="l00171"></a>00171     <span class="keyword">const</span> Vector4f  origin,
<a name="l00172"></a>00172     <span class="keyword">const</span> Objects   objects,
<a name="l00173"></a>00173     <span class="keyword">const</span> Queue     queue,
<a name="l00174"></a>00174     Bins            bins)
<a name="l00175"></a>00175 {
<a name="l00176"></a>00176     <span class="keyword">const</span> uint32 BLOCK_SIZE = SAH_SINGLE_WARP ? 32 : 128;
<a name="l00177"></a>00177     <span class="keyword">const</span> <span class="keywordtype">size_t</span> max_blocks = SAH_SINGLE_WARP ? 1 : thrust::detail::backend::cuda::arch::max_active_blocks(update_bins_kernel&lt;Iterator&gt;, BLOCK_SIZE, 0);
<a name="l00178"></a>00178     <span class="keyword">const</span> <span class="keywordtype">size_t</span> n_blocks   = <a class="code" href="group__vectors.html#ga5809911d15c32de18955c59865379695">nih::min</a>( max_blocks, (n_objects + BLOCK_SIZE-1) / BLOCK_SIZE );
<a name="l00179"></a>00179 
<a name="l00180"></a>00180     update_bins_kernel&lt;&lt;&lt;n_blocks,BLOCK_SIZE&gt;&gt;&gt; (
<a name="l00181"></a>00181         BINS,
<a name="l00182"></a>00182         n_objects,
<a name="l00183"></a>00183         bboxes,
<a name="l00184"></a>00184         origin,
<a name="l00185"></a>00185         objects,
<a name="l00186"></a>00186         queue,
<a name="l00187"></a>00187         bins );
<a name="l00188"></a>00188 
<a name="l00189"></a>00189     cudaThreadSynchronize();
<a name="l00190"></a>00190 }
<a name="l00191"></a>00191 
<a name="l00192"></a>00192 <span class="keyword">inline</span> <span class="keywordtype">void</span> start_timer(<span class="keyword">const</span> cudaEvent_t start, <span class="keyword">const</span> cudaEvent_t stop)
<a name="l00193"></a>00193 {
<a name="l00194"></a>00194     cudaEventRecord( start, 0 );
<a name="l00195"></a>00195 }
<a name="l00196"></a>00196 <span class="keyword">inline</span> <span class="keywordtype">float</span> stop_timer(<span class="keyword">const</span> cudaEvent_t start, <span class="keyword">const</span> cudaEvent_t stop)
<a name="l00197"></a>00197 {
<a name="l00198"></a>00198     <span class="keywordtype">float</span> dtime;
<a name="l00199"></a>00199     cudaEventRecord( stop, 0 );
<a name="l00200"></a>00200     cudaEventSynchronize( stop );
<a name="l00201"></a>00201     cudaEventElapsedTime( &amp;dtime, start, stop );
<a name="l00202"></a>00202     <span class="keywordflow">return</span> dtime;
<a name="l00203"></a>00203 }
<a name="l00204"></a>00204 
<a name="l00205"></a><a class="code" href="structnih_1_1cuda_1_1binned__sah_1_1_bin__counter.html">00205</a> <span class="keyword">struct </span><a class="code" href="structnih_1_1cuda_1_1binned__sah_1_1_bin__counter.html">Bin_counter</a>
<a name="l00206"></a>00206 {
<a name="l00207"></a>00207     <span class="keyword">typedef</span> <a class="code" href="structnih_1_1cuda_1_1binned__sah_1_1_bin.html">Bin</a>         <a class="code" href="structnih_1_1cuda_1_1binned__sah_1_1_bin.html">argument_type</a>;
<a name="l00208"></a>00208     <span class="keyword">typedef</span> uint32      result_type;
<a name="l00209"></a>00209 
<a name="l00210"></a>00210     NIH_HOST_DEVICE uint32 operator() (<span class="keyword">const</span> <a class="code" href="structnih_1_1cuda_1_1binned__sah_1_1_bin.html">Bin</a> bin)<span class="keyword"> const</span>
<a name="l00211"></a>00211 <span class="keyword">    </span>{
<a name="l00212"></a>00212         <span class="keywordflow">return</span> binary_cast&lt;int32&gt;(bin.bmin.w);
<a name="l00213"></a>00213     }
<a name="l00214"></a>00214 };
<a name="l00215"></a>00215 
<a name="l00216"></a>00216 } <span class="comment">// namespace binned_sah</span>
<a name="l00217"></a>00217 
<a name="l00218"></a>00218 <span class="comment">// build a bvh given a set of bboxes</span>
<a name="l00219"></a>00219 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Iterator&gt;
<a name="l00220"></a><a class="code" href="structnih_1_1cuda_1_1_binned__sah__builder.html#a5fd96275420b12b971605663dc19b169">00220</a> <span class="keywordtype">void</span> <a class="code" href="structnih_1_1cuda_1_1_binned__sah__builder.html#a5fd96275420b12b971605663dc19b169">Binned_sah_builder::build</a>(
<a name="l00221"></a>00221     <span class="keyword">const</span> uint32    BINS,
<a name="l00222"></a>00222     <span class="keyword">const</span> <a class="code" href="structnih_1_1_bbox.html">Bbox3f</a>    bbox,
<a name="l00223"></a>00223     <span class="keyword">const</span> Iterator  bbox_begin,
<a name="l00224"></a>00224     <span class="keyword">const</span> Iterator  bbox_end,
<a name="l00225"></a>00225     <span class="keyword">const</span> uint32    max_leaf_size,
<a name="l00226"></a>00226     <span class="keyword">const</span> <span class="keywordtype">float</span>     max_cost)
<a name="l00227"></a>00227 {
<a name="l00228"></a>00228     <span class="keyword">const</span> uint32 n_objects = uint32( bbox_end - bbox_begin );
<a name="l00229"></a>00229 
<a name="l00230"></a>00230     need_space( *m_nodes,  n_objects*2 );
<a name="l00231"></a>00231     need_space( *m_leaves, n_objects );
<a name="l00232"></a>00232     need_space( *m_index,  n_objects );
<a name="l00233"></a>00233 
<a name="l00234"></a>00234     need_space( m_bin_bmin, (n_objects / max_leaf_size) * BINS * 3 ); <span class="comment">// might need more later on...</span>
<a name="l00235"></a>00235     need_space( m_bin_bmax, (n_objects / max_leaf_size) * BINS * 3 ); <span class="comment">// might need more later on...</span>
<a name="l00236"></a>00236     need_space( m_bin_size, (n_objects / max_leaf_size) * BINS * 3 ); <span class="comment">// might need more later on...</span>
<a name="l00237"></a>00237     need_space( m_queue_bins,    n_objects * 2 );
<a name="l00238"></a>00238     need_space( m_queue_splits,  n_objects * 2 );
<a name="l00239"></a>00239 <span class="preprocessor">  #ifdef SAH_OBJECT_REORDERING</span>
<a name="l00240"></a>00240 <span class="preprocessor"></span>    need_space( m_queue_offsets, n_objects );
<a name="l00241"></a>00241     need_space( m_new_pos,       n_objects*2 );
<a name="l00242"></a>00242 <span class="preprocessor">  #endif</span>
<a name="l00243"></a>00243 <span class="preprocessor"></span>
<a name="l00244"></a>00244     need_space( m_bin_ids,   n_objects );
<a name="l00245"></a>00245     need_space( m_split_ids, n_objects );
<a name="l00246"></a>00246     need_space( m_node_ids,  n_objects );
<a name="l00247"></a>00247 
<a name="l00248"></a>00248     <a class="code" href="structnih_1_1cuda_1_1binned__sah_1_1_queue.html">Queue</a> queue[2];
<a name="l00249"></a>00249 
<a name="l00250"></a>00250     queue[0].bins   = thrust::raw_pointer_cast( &amp;m_queue_bins.front() );
<a name="l00251"></a>00251     queue[0].splits = thrust::raw_pointer_cast( &amp;m_queue_splits.front() );
<a name="l00252"></a>00252     queue[1].bins   = thrust::raw_pointer_cast( &amp;m_queue_bins.front() )   + n_objects;
<a name="l00253"></a>00253     queue[1].splits = thrust::raw_pointer_cast( &amp;m_queue_splits.front() ) + n_objects;
<a name="l00254"></a>00254 <span class="preprocessor">  #ifdef SAH_OBJECT_REORDERING</span>
<a name="l00255"></a>00255 <span class="preprocessor"></span>    queue[0].offsets = thrust::raw_pointer_cast( &amp;m_queue_offsets.front() );
<a name="l00256"></a>00256     queue[1].offsets = thrust::raw_pointer_cast( &amp;m_queue_offsets.front() );
<a name="l00257"></a>00257 <span class="preprocessor">  #endif</span>
<a name="l00258"></a>00258 <span class="preprocessor"></span>
<a name="l00259"></a>00259     <a class="code" href="structnih_1_1cuda_1_1binned__sah_1_1_objects.html">Objects</a> objects;
<a name="l00260"></a>00260     objects.bin_ids   = thrust::raw_pointer_cast( &amp;m_bin_ids.front() );
<a name="l00261"></a>00261     objects.split_ids = thrust::raw_pointer_cast( &amp;m_split_ids.front() );
<a name="l00262"></a>00262     objects.node_ids  = thrust::raw_pointer_cast( &amp;m_node_ids.front() );
<a name="l00263"></a>00263 <span class="preprocessor">  #ifdef SAH_OBJECT_REORDERING</span>
<a name="l00264"></a>00264 <span class="preprocessor"></span>    objects.index     = thrust::raw_pointer_cast( &amp;m_new_pos.front() );
<a name="l00265"></a>00265 <span class="preprocessor">  #endif</span>
<a name="l00266"></a>00266 <span class="preprocessor"></span>
<a name="l00267"></a>00267     <span class="comment">// assign all objects to split task 0 and node -1</span>
<a name="l00268"></a>00268     thrust::fill( m_split_ids.begin(), m_split_ids.begin() + n_objects, 0 );
<a name="l00269"></a>00269     thrust::fill( m_node_ids.begin(),  m_node_ids.begin() + n_objects, -1 );
<a name="l00270"></a>00270 
<a name="l00271"></a>00271 <span class="preprocessor">  #ifdef SAH_OBJECT_REORDERING</span>
<a name="l00272"></a>00272 <span class="preprocessor"></span>    <span class="comment">// assign initial ordering [0,1,2,...,n_objects-1] to the objects</span>
<a name="l00273"></a>00273     thrust::copy( thrust::make_counting_iterator(0u), thrust::make_counting_iterator(0u) + n_objects, m_new_pos.begin() );
<a name="l00274"></a>00274 <span class="preprocessor">  #endif</span>
<a name="l00275"></a>00275 <span class="preprocessor"></span>
<a name="l00276"></a>00276     <span class="comment">// initialize root bounding box</span>
<a name="l00277"></a>00277     {
<a name="l00278"></a>00278         <a class="code" href="structnih_1_1cuda_1_1binned__sah_1_1_bin.html">Bin</a> bin;
<a name="l00279"></a>00279         bin.bmin = make_float4( 0.0f,0.0f,0.0f,binary_cast&lt;float&gt;(n_objects) );
<a name="l00280"></a>00280         bin.bmax = make_float4( bbox[1][0]-bbox[0][0],bbox[1][1]-bbox[0][1],bbox[1][2]-bbox[0][2],binary_cast&lt;float&gt;(Bvh_node::kInvalid) );
<a name="l00281"></a>00281         m_queue_bins[0] = bin;
<a name="l00282"></a>00282     }
<a name="l00283"></a>00283 
<a name="l00284"></a>00284     <span class="keywordtype">int</span> input_node_offset  = 0;
<a name="l00285"></a>00285     <span class="keywordtype">int</span> output_node_offset = 1;
<a name="l00286"></a>00286 
<a name="l00287"></a>00287     m_counters.resize(2);
<a name="l00288"></a>00288     m_counters[0] = 0;
<a name="l00289"></a>00289     m_counters[1] = 0;
<a name="l00290"></a>00290 
<a name="l00291"></a>00291     <span class="keywordtype">int</span> in_queue      = 0;
<a name="l00292"></a>00292     <span class="keywordtype">int</span> out_queue     = 1;
<a name="l00293"></a>00293     <span class="keywordtype">int</span> n_input_tasks = 1;
<a name="l00294"></a>00294 
<a name="l00295"></a>00295     cudaEvent_t start, stop;
<a name="l00296"></a>00296     cudaEventCreate( &amp;start );
<a name="l00297"></a>00297     cudaEventCreate( &amp;stop );
<a name="l00298"></a>00298 
<a name="l00299"></a>00299 <span class="preprocessor">  #ifdef SAH_OBJECT_REORDERING</span>
<a name="l00300"></a>00300 <span class="preprocessor"></span>    uint32* index[2] = {
<a name="l00301"></a>00301         thrust::raw_pointer_cast( &amp;m_new_pos.front() ),
<a name="l00302"></a>00302         thrust::raw_pointer_cast( &amp;m_new_pos.front() ) + n_objects
<a name="l00303"></a>00303     };
<a name="l00304"></a>00304 <span class="preprocessor">  #else</span>
<a name="l00305"></a>00305 <span class="preprocessor"></span>    uint32* index[2] = { 0, 0 };
<a name="l00306"></a>00306 <span class="preprocessor">  #endif</span>
<a name="l00307"></a>00307 <span class="preprocessor"></span>
<a name="l00308"></a>00308     <a class="code" href="structnih_1_1cuda_1_1binned__sah_1_1_bins.html">Bins</a> bins;
<a name="l00309"></a>00309 
<a name="l00310"></a>00310     m_levels[0] = 0;
<a name="l00311"></a>00311     int32 level = 0;
<a name="l00312"></a>00312 
<a name="l00313"></a>00313     <span class="comment">// keep processing nodes in the input task queue until there&#39;s no more output</span>
<a name="l00314"></a>00314     <span class="keywordflow">while</span> (n_input_tasks)
<a name="l00315"></a>00315     {
<a name="l00316"></a>00316         <span class="comment">// mark the beginning of the new level</span>
<a name="l00317"></a>00317         m_levels[ level++ ] = input_node_offset;
<a name="l00318"></a>00318 
<a name="l00319"></a>00319         need_space( m_bin_bmin, n_input_tasks * BINS * 3 );
<a name="l00320"></a>00320         need_space( m_bin_bmax, n_input_tasks * BINS * 3 );
<a name="l00321"></a>00321         need_space( m_bin_size, n_input_tasks * BINS * 3 );
<a name="l00322"></a>00322 
<a name="l00323"></a>00323         bins.bmin   = thrust::raw_pointer_cast( &amp;m_bin_bmin.front() );
<a name="l00324"></a>00324         bins.bmax   = thrust::raw_pointer_cast( &amp;m_bin_bmax.front() );
<a name="l00325"></a>00325         bins.size   = thrust::raw_pointer_cast( &amp;m_bin_size.front() );
<a name="l00326"></a>00326 
<a name="l00327"></a>00327         <span class="comment">// reset the output task counter</span>
<a name="l00328"></a>00328         m_counters[0] = 0;
<a name="l00329"></a>00329 
<a name="l00330"></a>00330         <span class="comment">// set queue size</span>
<a name="l00331"></a>00331         queue[ in_queue ].size = n_input_tasks;
<a name="l00332"></a>00332 
<a name="l00333"></a>00333         binned_sah::start_timer( start, stop );
<a name="l00334"></a>00334         <span class="comment">//binned_sah::init_bins( BINS, n_input_tasks, bins );</span>
<a name="l00335"></a>00335         {
<a name="l00336"></a>00336             <span class="keyword">const</span> <span class="keywordtype">float</span> HUGE = 1.0e8f;
<a name="l00337"></a>00337             thrust::fill( m_bin_bmin.begin(), m_bin_bmin.begin() + n_input_tasks * BINS * 3, make_float3(  HUGE,  HUGE,  HUGE ) );
<a name="l00338"></a>00338             thrust::fill( m_bin_bmax.begin(), m_bin_bmax.begin() + n_input_tasks * BINS * 3, make_float3( -HUGE, -HUGE, -HUGE ) );
<a name="l00339"></a>00339             thrust::fill( m_bin_size.begin(), m_bin_size.begin() + n_input_tasks * BINS * 3, 0 );
<a name="l00340"></a>00340         }
<a name="l00341"></a>00341         m_init_bins_time += binned_sah::stop_timer( start, stop );
<a name="l00342"></a>00342 
<a name="l00343"></a>00343 <span class="preprocessor">      #ifdef SAH_OBJECT_REORDERING</span>
<a name="l00344"></a>00344 <span class="preprocessor"></span>        thrust::exclusive_scan(
<a name="l00345"></a>00345             thrust::make_transform_iterator( m_queue_bins.begin(), <a class="code" href="structnih_1_1cuda_1_1binned__sah_1_1_bin__counter.html">binned_sah::Bin_counter</a>() ) + in_queue*n_objects,
<a name="l00346"></a>00346             thrust::make_transform_iterator( m_queue_bins.begin(), <a class="code" href="structnih_1_1cuda_1_1binned__sah_1_1_bin__counter.html">binned_sah::Bin_counter</a>() ) + in_queue*n_objects + n_input_tasks,
<a name="l00347"></a>00347             m_queue_offsets.begin() );
<a name="l00348"></a>00348 <span class="preprocessor">      #endif</span>
<a name="l00349"></a>00349 <span class="preprocessor"></span>
<a name="l00350"></a>00350         binned_sah::start_timer( start, stop );
<a name="l00351"></a>00351         binned_sah::update_bins( BINS, n_objects, bbox_begin, <a class="code" href="structnih_1_1_vector.html">Vector4f</a>(-bbox[0][0],-bbox[0][1],-bbox[0][2],0.0f), objects, queue[ in_queue ], bins);
<a name="l00352"></a>00352         m_update_bins_time += binned_sah::stop_timer( start, stop );
<a name="l00353"></a>00353 
<a name="l00354"></a>00354         binned_sah::start_timer( start, stop );
<a name="l00355"></a>00355         binned_sah::sah_split(
<a name="l00356"></a>00356             BINS,
<a name="l00357"></a>00357             bins,
<a name="l00358"></a>00358             queue[ in_queue ],
<a name="l00359"></a>00359             input_node_offset,
<a name="l00360"></a>00360             queue[ out_queue ],
<a name="l00361"></a>00361             thrust::raw_pointer_cast( &amp;m_counters.front() ),
<a name="l00362"></a>00362             output_node_offset,
<a name="l00363"></a>00363             thrust::raw_pointer_cast( &amp;m_nodes-&gt;front() ),
<a name="l00364"></a>00364             thrust::raw_pointer_cast( &amp;m_counters.front() ) + 1,
<a name="l00365"></a>00365             max_leaf_size,
<a name="l00366"></a>00366             max_cost );
<a name="l00367"></a>00367         m_sah_split_time += binned_sah::stop_timer( start, stop );
<a name="l00368"></a>00368 
<a name="l00369"></a>00369         binned_sah::start_timer( start, stop );
<a name="l00370"></a>00370 
<a name="l00371"></a>00371 <span class="preprocessor">      #ifdef SAH_OBJECT_REORDERING</span>
<a name="l00372"></a>00372 <span class="preprocessor"></span>        thrust::fill(
<a name="l00373"></a>00373             m_new_pos.begin() + (out_queue+0)*n_objects,
<a name="l00374"></a>00374             m_new_pos.begin() + (out_queue+1)*n_objects,
<a name="l00375"></a>00375             uint32(-1) );
<a name="l00376"></a>00376 <span class="preprocessor">      #endif</span>
<a name="l00377"></a>00377 <span class="preprocessor"></span>
<a name="l00378"></a>00378         binned_sah::distribute_objects(
<a name="l00379"></a>00379             BINS,
<a name="l00380"></a>00380             objects,
<a name="l00381"></a>00381             n_objects,
<a name="l00382"></a>00382             queue[ in_queue ],
<a name="l00383"></a>00383             input_node_offset,
<a name="l00384"></a>00384             bins,
<a name="l00385"></a>00385             index[ out_queue ] );
<a name="l00386"></a>00386 
<a name="l00387"></a>00387 <span class="preprocessor">      #ifdef SAH_OBJECT_REORDERING</span>
<a name="l00388"></a>00388 <span class="preprocessor"></span>        <span class="comment">// swap objects index</span>
<a name="l00389"></a>00389         objects.index = index[ out_queue ];
<a name="l00390"></a>00390 <span class="preprocessor">      #endif</span>
<a name="l00391"></a>00391 <span class="preprocessor"></span>
<a name="l00392"></a>00392         m_distribute_objects_time += binned_sah::stop_timer( start, stop );
<a name="l00393"></a>00393 
<a name="l00394"></a>00394         <span class="comment">// get the new number of generated tasks</span>
<a name="l00395"></a>00395         <span class="keyword">const</span> uint32 n_output_tasks = m_counters[0];
<a name="l00396"></a>00396 
<a name="l00397"></a>00397         <span class="comment">// update input &amp; output counters</span>
<a name="l00398"></a>00398         input_node_offset   = output_node_offset;
<a name="l00399"></a>00399         output_node_offset += n_output_tasks;
<a name="l00400"></a>00400         n_input_tasks       = n_output_tasks;
<a name="l00401"></a>00401 
<a name="l00402"></a>00402         <span class="comment">// swap the input &amp; output queues</span>
<a name="l00403"></a>00403         std::swap( in_queue, out_queue );
<a name="l00404"></a>00404     }
<a name="l00405"></a>00405 
<a name="l00406"></a>00406     m_level_count = level;
<a name="l00407"></a>00407     <span class="keywordflow">for</span> (; level &lt; 128; ++level)
<a name="l00408"></a>00408         m_levels[ level ] = output_node_offset;
<a name="l00409"></a>00409 
<a name="l00410"></a>00410     <span class="comment">// sort the objects by their leaf id</span>
<a name="l00411"></a>00411     thrust::copy( thrust::make_counting_iterator(0u), thrust::make_counting_iterator(0u) + n_objects, m_index-&gt;begin() );
<a name="l00412"></a>00412     thrust::sort_by_key( m_node_ids.begin(), m_node_ids.begin() + n_objects, m_index-&gt;begin() );
<a name="l00413"></a>00413 
<a name="l00414"></a>00414     <span class="comment">// setup leaf ranges</span>
<a name="l00415"></a>00415     binned_sah::setup_leaves( n_objects, objects.node_ids, thrust::raw_pointer_cast( &amp;m_leaves-&gt;front() ) );
<a name="l00416"></a>00416 
<a name="l00417"></a>00417     m_leaf_count = m_counters[1];
<a name="l00418"></a>00418     m_node_count = output_node_offset;
<a name="l00419"></a>00419 
<a name="l00420"></a>00420     cudaEventDestroy( start );
<a name="l00421"></a>00421     cudaEventDestroy( stop );
<a name="l00422"></a>00422 }
<a name="l00423"></a>00423 
<a name="l00424"></a>00424 } <span class="comment">// namespace cuda</span>
<a name="l00425"></a>00425 } <span class="comment">// namespace nih</span>
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